#include <visp3/core/vpRotationMatrix.h>

Inheritance diagram for vpRotationMatrix:

Public Member Functions
	vpRotationMatrix ()

	vpRotationMatrix (const vpRotationMatrix &R)

VP_EXPLICIT	vpRotationMatrix (const vpHomogeneousMatrix &M)

VP_EXPLICIT	vpRotationMatrix (const vpThetaUVector &r)

VP_EXPLICIT	vpRotationMatrix (const vpPoseVector &p)

VP_EXPLICIT	vpRotationMatrix (const vpRzyzVector &r)

VP_EXPLICIT	vpRotationMatrix (const vpRxyzVector &r)

VP_EXPLICIT	vpRotationMatrix (const vpRzyxVector &r)

VP_EXPLICIT	vpRotationMatrix (const vpQuaternionVector &q)

VP_EXPLICIT	vpRotationMatrix (const vpMatrix &R)

	vpRotationMatrix (double tux, double tuy, double tuz)

VP_EXPLICIT	vpRotationMatrix (const std::initializer_list< double > &list)

vpRotationMatrix &	buildFrom (const vpHomogeneousMatrix &M)

vpRotationMatrix &	buildFrom (const vpThetaUVector &v)

vpRotationMatrix &	buildFrom (const vpPoseVector &p)

vpRotationMatrix &	buildFrom (const vpRzyzVector &v)

vpRotationMatrix &	buildFrom (const vpRxyzVector &v)

vpRotationMatrix &	buildFrom (const vpRzyxVector &v)

vpRotationMatrix &	buildFrom (const vpQuaternionVector &q)

vpRotationMatrix &	buildFrom (const double &tux, const double &tuy, const double &tuz)

void	eye ()

vpColVector	getCol (unsigned int j) const

vpThetaUVector	getThetaUVector ()

vpRotationMatrix	inverse () const

void	inverse (vpRotationMatrix &R) const

bool	isARotationMatrix (double threshold=1e-6) const

vpRotationMatrix &	operator= (const vpRotationMatrix &R)

vpRotationMatrix &	operator= (const vpMatrix &M)

vpRotationMatrix &	operator= (const std::initializer_list< double > &list)

vpTranslationVector	operator* (const vpTranslationVector &tv) const

vpRotationMatrix	operator* (const vpRotationMatrix &R) const

vpHomogeneousMatrix	operator* (const vpHomogeneousMatrix &M) const

vpMatrix	operator* (const vpMatrix &M) const

vpColVector	operator* (const vpColVector &v) const

vpRotationMatrix	operator* (double x) const

vpRotationMatrix &	operator*= (double x)

vpRotationMatrix &	operator<< (double val)

vpRotationMatrix &	operator, (double val)

void	orthogonalize ()

void	printVector ()

void	resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true)

vpRotationMatrix	t () const

Inherited functionalities from vpArray2D
unsigned int	getCols () const

double	getMaxValue () const

double	getMinValue () const

unsigned int	getRows () const

unsigned int	size () const

void	resize (unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)

void	reshape (unsigned int nrows, unsigned int ncols)

void	insert (const vpArray2D< double > &A, unsigned int r, unsigned int c)

bool	operator== (const vpArray2D< double > &A) const

bool	operator!= (const vpArray2D< double > &A) const

double *	operator[] (unsigned int i)

double *	operator[] (unsigned int i) const

vpArray2D< double >	hadamard (const vpArray2D< double > &m) const

Static Public Member Functions
static vpRotationMatrix	mean (const std::vector< vpHomogeneousMatrix > &vec_M)

static vpRotationMatrix	mean (const std::vector< vpRotationMatrix > &vec_R)

Public Attributes
double *	data

Protected Attributes
unsigned int	m_index

Related Functions
(Note that these are not member functions.)
enum	vpGEMMmethod

bool	operator== (const vpArray2D< double > &A) const

bool	operator== (const vpArray2D< float > &A) const

bool	operator!= (const vpArray2D< double > &A) const

void	vpGEMM (const vpArray2D< double > &A, const vpArray2D< double > &B, const double &alpha, const vpArray2D< double > &C, const double &beta, vpArray2D< double > &D, const unsigned int &ops=0)

Inherited I/O from vpArray2D with Static Public Member Functions
unsigned int	rowNum

unsigned int	colNum

double **	rowPtrs

unsigned int	dsize

vpArray2D< double >	insert (const vpArray2D< double > &A, const vpArray2D< double > &B, unsigned int r, unsigned int c)

static bool	load (const std::string &filename, vpArray2D< double > &A, bool binary=false, char *header=nullptr)

static bool	loadYAML (const std::string &filename, vpArray2D< double > &A, char *header=nullptr)

static bool	save (const std::string &filename, const vpArray2D< double > &A, bool binary=false, const char *header="")

static bool	saveYAML (const std::string &filename, const vpArray2D< double > &A, const char *header="")

static vpArray2D< double >	conv2 (const vpArray2D< double > &M, const vpArray2D< double > &kernel, const std::string &mode)

static void	conv2 (const vpArray2D< double > &M, const vpArray2D< double > &kernel, vpArray2D< double > &res, const std::string &mode)

static void	insert (const vpArray2D< double > &A, const vpArray2D< double > &B, vpArray2D< double > &C, unsigned int r, unsigned int c)

Detailed Description

Implementation of a rotation matrix and operations on such kind of matrices.

The vpRotationMatrix considers the particular case of a rotation matrix.

The vpRotationMatrix class is derived from vpArray2D<double>.

The code below shows how to create a rotation matrix, set the element values and access them:

#include <visp3/core/vpRotationMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpRotationMatrix R;
  R[0][0] =  0; R[0][1] =  0; R[0][2] = -1;
  R[1][0] =  0; R[1][1] = -1; R[1][2] =  0;
  R[2][0] = -1; R[2][1] =  0; R[2][2] =  0;
 
  std::cout << "R:" << std::endl;
  for (unsigned int i = 0; i < R.getRows(); ++i) {
    for (unsigned int j = 0; j < R.getCols(); ++j) {
      std::cout << R[i][j] << " ";
    }
    std::cout << std::endl;
  }
}

Once build, this previous code produces the following output:

R:
0 0 -1
0 -1 0
-1 0 0

You can also use operator<< to initialize a rotation matrix as previously:

#include <visp3/core/vpRotationMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpRotationMatrix R;
  R << 0, 0, -1, 0, -1, 0, -1, 0, 0;
  std::cout << "R:\n" << R << std::endl;
}

If ViSP is build with c++11 enabled, you can do the same using:

#include <visp3/code/vpRotationMatrix.h
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpRotationMatrix R{ 0, 0, -1, 0, -1, 0, -1, 0, 0 };
  std::cout << "R:\n" << R << std::endl;
}

Examples: AROgreBasic.cpp, ClassUsingPclViewer.h, HelloWorldOgre.cpp, catchHomogeneousMatrix.cpp, catchPoseVector.cpp, catchRotation.cpp, exponentialMap.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, homographyHartleyDLT2DObject.cpp, homographyRansac2DObject.cpp, manGeometricFeatures.cpp, mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, perfMatrixMultiplication.cpp, photometricMappingVisualServoing.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_cur_integrator.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoBebop2.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoPololuPtuPoint2DJointVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper650FourPoints2DCamVelocityLs_cur-SR300.cpp, servoViper650FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, testDisplacement.cpp, testDisplays.cpp, testImageDraw.cpp, testMatrix.cpp, testMatrixInitialization.cpp, testRobotAfma6Pose.cpp, testRobotViper650-frames.cpp, testRobotViper850-frames.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testTwistMatrix.cpp, testViper650.cpp, testViper850.cpp, testVirtuoseHapticBox.cpp, tutorial-draw-frame.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-pf.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, tutorial-simu-pioneer.cpp, and tutorial-ukf.cpp.

Definition at line 129 of file vpRotationMatrix.h.

Constructor & Destructor Documentation

◆ vpRotationMatrix() [1/12]

vpRotationMatrix::vpRotationMatrix ( )

Default constructor that initialise a 3-by-3 rotation matrix to identity.

Definition at line 508 of file vpRotationMatrix.cpp.

References eye().

◆ vpRotationMatrix() [2/12]

vpRotationMatrix::vpRotationMatrix ( const vpRotationMatrix & M )

Copy constructor that construct a 3-by-3 rotation matrix from another rotation matrix.

Definition at line 514 of file vpRotationMatrix.cpp.

◆ vpRotationMatrix() [3/12]

vpRotationMatrix::vpRotationMatrix ( const vpHomogeneousMatrix & M )

Construct a 3-by-3 rotation matrix from an homogeneous matrix.

Definition at line 519 of file vpRotationMatrix.cpp.

References buildFrom().

◆ vpRotationMatrix() [4/12]

vpRotationMatrix::vpRotationMatrix ( const vpThetaUVector & tu )

Construct a 3-by-3 rotation matrix from $\theta {\bf u}$ angle representation.

Definition at line 525 of file vpRotationMatrix.cpp.

References buildFrom().

◆ vpRotationMatrix() [5/12]

vpRotationMatrix::vpRotationMatrix ( const vpPoseVector & p )

Construct a 3-by-3 rotation matrix from a pose vector.

Definition at line 530 of file vpRotationMatrix.cpp.

References buildFrom().

◆ vpRotationMatrix() [6/12]

vpRotationMatrix::vpRotationMatrix ( const vpRzyzVector & euler )

Construct a 3-by-3 rotation matrix from Euler angle representation.

Definition at line 536 of file vpRotationMatrix.cpp.

References buildFrom().

◆ vpRotationMatrix() [7/12]

vpRotationMatrix::vpRotationMatrix ( const vpRxyzVector & Rxyz )

Construct a 3-by-3 rotation matrix from Euler angle representation.

Definition at line 545 of file vpRotationMatrix.cpp.

References buildFrom().

◆ vpRotationMatrix() [8/12]

vpRotationMatrix::vpRotationMatrix ( const vpRzyxVector & Rzyx )

Construct a 3-by-3 rotation matrix from Euler angle representation.

Definition at line 551 of file vpRotationMatrix.cpp.

References buildFrom().

◆ vpRotationMatrix() [9/12]

vpRotationMatrix::vpRotationMatrix ( const vpQuaternionVector & q )

Construct a 3-by-3 rotation matrix from quaternion angle representation.

Definition at line 570 of file vpRotationMatrix.cpp.

References buildFrom().

◆ vpRotationMatrix() [10/12]

vpRotationMatrix::vpRotationMatrix ( const vpMatrix & R )

Construct a 3-by-3 rotation matrix from a matrix that contains values corresponding to a rotation matrix.

Definition at line 556 of file vpRotationMatrix.cpp.

◆ vpRotationMatrix() [11/12]

vpRotationMatrix::vpRotationMatrix	(	double	tux,
		double	tuy,
		double	tuz
	)

Construct a 3-by-3 rotation matrix from $\theta {\bf u}=(\theta u_x, \theta u_y, \theta u_z)^T$ angle representation.

Definition at line 562 of file vpRotationMatrix.cpp.

References buildFrom().

◆ vpRotationMatrix() [12/12]

vpRotationMatrix::vpRotationMatrix ( const std::initializer_list< double > & list )

Construct a rotation matrix from a list of 9 double values.

Parameters

list

: List of double. The following code shows how to use this constructor to initialize a rotation matrix:

#include <visp3/core/vpRotationMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpRotationMatrix R{ 0, 0, -1, 0, -1, 0, -1, 0, 0 };
  std::cout << "R:\n" << R << std::endl;
}

It produces the following output:

Definition at line 598 of file vpRotationMatrix.cpp.

References vpException::fatalError, isARotationMatrix(), and orthogonalize().

Member Function Documentation

◆ buildFrom() [1/8]

vpRotationMatrix & vpRotationMatrix::buildFrom	(	const double &	tux,
		const double &	tuy,
		const double &	tuz
	)

Construct a 3-by-3 rotation matrix from $\theta {\bf u}=(\theta u_x, \theta u_y, \theta u_z)^T$ angle representation.

Definition at line 863 of file vpRotationMatrix.cpp.

References buildFrom().

◆ buildFrom() [2/8]

vpRotationMatrix & vpRotationMatrix::buildFrom ( const vpHomogeneousMatrix & M )

Build a rotation matrix from an homogeneous matrix.

Examples: catchRotation.cpp, testRobotAfma6Pose.cpp, and testRobotViper850Pose.cpp.

Definition at line 732 of file vpRotationMatrix.cpp.

Referenced by buildFrom(), vpRzyxVector::buildFrom(), vpRzyzVector::buildFrom(), vpRxyzVector::buildFrom(), vpExponentialMap::direct(), vpPoseVector::extract(), vpRobotAfma6::setPosition(), and vpRotationMatrix().

◆ buildFrom() [3/8]

vpRotationMatrix & vpRotationMatrix::buildFrom ( const vpPoseVector & p )

Build a rotation matrix from a pose vector.

See also: buildFrom(const vpThetaUVector &)

Definition at line 749 of file vpRotationMatrix.cpp.

References buildFrom().

◆ buildFrom() [4/8]

vpRotationMatrix & vpRotationMatrix::buildFrom ( const vpQuaternionVector & q )

Construct a 3-by-3 rotation matrix from a quaternion representation.

Definition at line 873 of file vpRotationMatrix.cpp.

References vpQuaternionVector::w(), vpQuaternionVector::x(), vpQuaternionVector::y(), and vpQuaternionVector::z().

◆ buildFrom() [5/8]

vpRotationMatrix & vpRotationMatrix::buildFrom ( const vpRxyzVector & v )

Transform a vector representing the Rxyz angle into a rotation matrix. Rxyz( $\phi,\theta, \psi$ ) = Rot( $x, \psi$ ) Rot( $y, \theta$ ) Rot( $z,\phi$ )

Definition at line 797 of file vpRotationMatrix.cpp.

◆ buildFrom() [6/8]

vpRotationMatrix & vpRotationMatrix::buildFrom ( const vpRzyxVector & v )

Transform a vector representing the Rzyx angle into a rotation matrix. Rxyz( $\phi, \theta , \psi$ ) = Rot( $z, \psi$ ) Rot( $y, \theta$ )Rot( $x, \phi$ )

Definition at line 830 of file vpRotationMatrix.cpp.

◆ buildFrom() [7/8]

vpRotationMatrix & vpRotationMatrix::buildFrom ( const vpRzyzVector & v )

Transform a vector representing the Euler angle into a rotation matrix. Rzyz( $\phi, \theta , \psi$ ) = Rot( $z,\phi$ ) Rot( $y,\theta$ ) Rot( $z,\psi$ )

Definition at line 762 of file vpRotationMatrix.cpp.

◆ buildFrom() [8/8]

vpRotationMatrix & vpRotationMatrix::buildFrom ( const vpThetaUVector & v )

Transform a $\theta {\bf u}$ angle representation into a rotation matrix.

The rotation is computed using :

$R = \cos{ \theta} \; {I}_{3} + (1 - \cos{ \theta}) \; u u^{T} + \sin{ \theta} \; [u]_\times$

Definition at line 695 of file vpRotationMatrix.cpp.

References vpMath::mcosc(), and vpMath::sinc().

◆ conv2() [1/2]

vpArray2D< double > vpArray2D< double >::conv2	(	const vpArray2D< Type > &	M,
		const vpArray2D< Type > &	kernel,
		const std::string &	mode
	)

staticinherited

Perform a 2D convolution similar to Matlab conv2 function: $M \star kernel$ .

Parameters

M	: First matrix.
kernel	: Second matrix.
mode	: Convolution mode: "full" (default), "same", "valid".

Convolution mode: full, same, valid (image credit: Theano doc).

Note: This is a very basic implementation that does not use FFT.

Definition at line 1053 of file vpArray2D.h.

◆ conv2() [2/2]

void vpArray2D< double >::conv2	(	const vpArray2D< Type > &	M,
		const vpArray2D< Type > &	kernel,
		vpArray2D< Type > &	res,
		const std::string &	mode
	)

staticinherited

Perform a 2D convolution similar to Matlab conv2 function: $M \star kernel$ .

Parameters

M	: First array.
kernel	: Second array.
res	: Result.
mode	: Convolution mode: "full" (default), "same", "valid".

Convolution mode: full, same, valid (image credit: Theano doc).

Note: This is a very basic implementation that does not use FFT.

Definition at line 1067 of file vpArray2D.h.

◆ eye()

BEGIN_VISP_NAMESPACE void vpRotationMatrix::eye ( )

Initialize the rotation matrix as identity.

See also: setIdentity()

Definition at line 58 of file vpRotationMatrix.cpp.

Referenced by vpRotationMatrix().

◆ getCol()

vpColVector vpRotationMatrix::getCol ( unsigned int j ) const

Extract a column vector from a rotation matrix.

Warning: All the indexes start from 0 in this function.

Parameters

j	: Index of the column to extract. If j=0, the first column is extracted.

Returns: The extracted column vector.

The following example shows how to use this function:

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpRotationMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpRotationMatrix R;
 
  vpColVector r = R.getCol(2);
  std::cout << "Last column: \n" << r << std::endl;
}

It produces the following output:

Last column:
0
0
1

Examples: testVirtuoseHapticBox.cpp.

Definition at line 938 of file vpRotationMatrix.cpp.

References vpException::dimensionError, vpArray2D< double >::getCols(), and vpArray2D< double >::getRows().

◆ getCols()

unsigned int vpArray2D< double >::getCols ( ) const

inlineinherited

Return the number of columns of the 2D array.

See also: getRows(), size()

Definition at line 337 of file vpArray2D.h.

◆ getMaxValue()

double vpArray2D< double >::getMaxValue

inherited

Return the array max value.

Examples: servoMomentImage.cpp.

Definition at line 339 of file vpArray2D.h.

◆ getMinValue()

double vpArray2D< double >::getMinValue

inherited

Return the array min value.

Examples: servoMomentImage.cpp.

Definition at line 341 of file vpArray2D.h.

◆ getRows()

unsigned int vpArray2D< double >::getRows ( ) const

inlineinherited

◆ getThetaUVector()

vpThetaUVector vpRotationMatrix::getThetaUVector ( )

Return the $\theta {\bf u}$ vector that corresponds to the rotation matrix.

Definition at line 900 of file vpRotationMatrix.cpp.

References vpThetaUVector::buildFrom().

Referenced by vpRobotBebop2::setPosition().

◆ hadamard()

vpArray2D< double > vpArray2D< double >::hadamard ( const vpArray2D< Type > & m ) const

inherited

Compute the Hadamard product (element wise matrix multiplication).

Parameters

m	: Second matrix;

Returns: m1.hadamard(m2) The Hadamard product : $m1 \circ m2 = (m1 \circ m2)_{i,j} = (m1)_{i,j} (m2)_{i,j}$

Definition at line 641 of file vpArray2D.h.

◆ insert() [1/2]

vpArray2D< double > vpArray2D< double >::insert	(	const vpArray2D< Type > &	A,
		const vpArray2D< Type > &	B,
		unsigned int	r,
		unsigned int	c
	)

inherited

Insert array B in array A at the given position.

Parameters

A	: Main array.
B	: Array to insert.
r	: Index of the row where to add the array.
c	: Index of the column where to add the array.

Returns: Array with B insert in A.

Warning: Throw exception if the sizes of the arrays do not allow the insertion.

Definition at line 1081 of file vpArray2D.h.

◆ insert() [2/2]

void vpArray2D< double >::insert	(	const vpArray2D< Type > &	A,
		unsigned int	r,
		unsigned int	c
	)

inlineinherited

Insert array A at the given position in the current array.

Warning: Throw vpException::dimensionError if the dimensions of the matrices do not allow the operation.

Parameters

A	: The array to insert.
r	: The index of the row to begin to insert data.
c	: The index of the column to begin to insert data.

Definition at line 497 of file vpArray2D.h.

◆ inverse() [1/2]

vpRotationMatrix vpRotationMatrix::inverse ( ) const

Return the rotation matrix inverse which is also the transpose of the rotation matrix.

See also: t()

Examples: servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, testVirtuoseAfma6.cpp, and testVirtuoseHapticBox.cpp.

Definition at line 640 of file vpRotationMatrix.cpp.

References t().

Referenced by vpViper::get_eJe(), and inverse().

◆ inverse() [2/2]

void vpRotationMatrix::inverse ( vpRotationMatrix & R ) const

Inverse the rotation matrix.

Parameters

R	(output): Inverted rotation matrix.

#include <visp3/core/vpRotationMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpRotationMatrix R, Rinv;
  // ... Update rotation matrix R
  // Compute the inverse in Rinv
  R.inverse(Rinv);
}

Definition at line 668 of file vpRotationMatrix.cpp.

References inverse().

◆ isARotationMatrix()

bool vpRotationMatrix::isARotationMatrix ( double threshold = 1e-6 ) const

Test if the rotation matrix is really a rotation matrix.

Returns: true if the matrix is a rotation matrix, false otherwise.

Examples: catchRotation.cpp.

Definition at line 460 of file vpRotationMatrix.cpp.

References vpArray2D< double >::getCols(), vpArray2D< double >::getRows(), vpMath::sqr(), and t().

Referenced by vpHomogeneousMatrix::isAnHomogeneousMatrix(), operator=(), and vpRotationMatrix().

◆ load()

static bool vpArray2D< double >::load	(	const std::string &	filename,
		vpArray2D< Type > &	A,
		bool	binary = `false`,
		char *	header = `nullptr`
	)

inlinestaticinherited

Load a matrix from a file.

Parameters

filename	: Absolute file name.
A	: Array to be loaded
binary	: If true the matrix is loaded from a binary file, else from a text file.
header	: Header of the file is loaded in this parameter.

Returns: Returns true if success.

See also: save()

Definition at line 669 of file vpArray2D.h.

◆ loadYAML()

static bool vpArray2D< double >::loadYAML	(	const std::string &	filename,
		vpArray2D< Type > &	A,
		char *	header = `nullptr`
	)

inlinestaticinherited

Load an array from a YAML-formatted file.

Parameters

filename	: absolute file name.
A	: array to be loaded from the file.
header	: header of the file is loaded in this parameter.

Returns: Returns true on success.

See also: saveYAML()

Examples: servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-hsv-segmentation-pcl-viewer.cpp, tutorial-hsv-segmentation-pcl.cpp, and tutorial-hsv-segmentation.cpp.

Definition at line 783 of file vpArray2D.h.

◆ mean() [1/2]

vpRotationMatrix vpRotationMatrix::mean ( const std::vector< vpHomogeneousMatrix > & vec_M )

static

Compute the Euclidean mean of the rotation matrices extracted from a vector of homogeneous matrices following Moakher's method (SIAM 2002).

Parameters

[in] vec_M : Set of homogeneous matrices.

Returns: The Euclidean mean of the rotation matrices.

See also: vpTranslationVector::mean()

Definition at line 960 of file vpRotationMatrix.cpp.

References vpMatrix::pseudoInverse(), vpArray2D< Type >::size(), and vpMatrix::t().

◆ mean() [2/2]

vpRotationMatrix vpRotationMatrix::mean ( const std::vector< vpRotationMatrix > & vec_R )

static

Compute the Euclidean mean of the rotation matrices following Moakher's method (SIAM 2002).

Parameters

[in] vec_R : Set of rotation matrices.

Returns: The Euclidean mean of the rotation matrices.

See also: vpTranslationVector::mean()

Definition at line 1003 of file vpRotationMatrix.cpp.

References vpMatrix::pseudoInverse(), vpArray2D< Type >::size(), and vpMatrix::t().

◆ operator!=()

bool operator!= ( const vpArray2D< Type > & A ) const

inherited

Not equal to comparison operator of a 2D array.

Definition at line 523 of file vpArray2D.h.

◆ operator*() [1/6]

vpColVector vpRotationMatrix::operator* ( const vpColVector & v ) const

Operator that allows to multiply a rotation matrix by a 3 dimension column vector.

Parameters

v	: Three dimension column vector.

Returns: The product of the rotation matrix by the column vector

Exceptions

vpException::dimensionError If the column vector v is not a 3 dimension vector.

The code below shows how to use this operator.

#include <visp3/core/vpColVector.h>
#include <visp3/core/vpRotationMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpColVector p1(3), p2(3);
  vpRotationMatrix R;
 
  p2 = R * p1;
 
  return 0;
}

Definition at line 377 of file vpRotationMatrix.cpp.

References vpArray2D< double >::colNum, vpException::dimensionError, vpArray2D< Type >::getRows(), vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.

◆ operator*() [2/6]

vpHomogeneousMatrix vpRotationMatrix::operator* ( const vpHomogeneousMatrix & M ) const

Operator that allows to multiply a rotation matrix by a homogeneous matrix.

Parameters

[in] M : Homogeneous matrix.

Returns: The product between the rotation matrix and the homogeneous matrix M.

The following snippet shows how to use this method:

vpRotationMatrix c1_R_c2;
vpHomogeneousMatrix c2_M_c3;
vpHomogeneousMatrix c1_M_c3 = c1_R_c2 * c2_M_c3;

Definition at line 339 of file vpRotationMatrix.cpp.

References vpHomogeneousMatrix::getRotationMatrix(), and vpHomogeneousMatrix::getTranslationVector().

◆ operator*() [3/6]

vpMatrix vpRotationMatrix::operator* ( const vpMatrix & M ) const

Operator that allows to multiply a rotation matrix by a 3-by-3 matrix. Allows for example to multiply a rotation matrix by a skew matrix.

Parameters

[in] M : 3-by-3 matrix.

Returns: The product between the rotation matrix and the 3-by-3 matrix M.

Exceptions

vpException::dimensionError : If M is not a 3-by-3 dimension matrix.

The following snippet shows how to use this method:

vpRotationMatrix R;
vpTranslationVector t;
vpMatrix M = t.skew();
vpMatrix RM = R * M;

Definition at line 304 of file vpRotationMatrix.cpp.

References vpException::dimensionError, vpArray2D< Type >::getCols(), and vpArray2D< Type >::getRows().

◆ operator*() [4/6]

vpRotationMatrix vpRotationMatrix::operator* ( const vpRotationMatrix & R ) const

Compute the product between two rotation matrices.

Definition at line 270 of file vpRotationMatrix.cpp.

References vpArray2D< Type >::rowPtrs, and vpArray2D< double >::rowPtrs.

◆ operator*() [5/6]

vpTranslationVector vpRotationMatrix::operator* ( const vpTranslationVector & tv ) const

Multiply a rotation matrix by a translation vector and return the resulting translation vector.

Definition at line 402 of file vpRotationMatrix.cpp.

References vpArray2D< double >::rowPtrs.

◆ operator*() [6/6]

vpRotationMatrix vpRotationMatrix::operator* ( double x ) const

Operator that allows to multiply all the elements of a rotation matrix by a scalar.

Definition at line 424 of file vpRotationMatrix.cpp.

References vpArray2D< double >::colNum, vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.

◆ operator*=()

vpRotationMatrix & vpRotationMatrix::operator*= ( double x )

Operator that allows to multiply all the elements of a rotation matrix by a scalar.

Definition at line 441 of file vpRotationMatrix.cpp.

References vpArray2D< double >::colNum, vpArray2D< double >::rowNum, and vpArray2D< double >::rowPtrs.

◆ operator,()

vpRotationMatrix & vpRotationMatrix::operator, ( double val )

Set the second and next element of the rotation matrix.

Parameters

val	: Value of the matrix second or next element.

Returns: An updated matrix.

The following example shows how to initialize a rotation matrix using this operator.

#include <visp3/core/vpRotationMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpRotationMatrix R;
  R << 0, 0, -1, 0, -1, 0, -1, 0, 0;
  std::cout << "R:\n" << R << std::endl;
}

It produces the following printings:

See also: operator<<()

Definition at line 254 of file vpRotationMatrix.cpp.

References vpArray2D< double >::data, vpException::dimensionError, m_index, and vpArray2D< double >::size().

◆ operator<<()

vpRotationMatrix & vpRotationMatrix::operator<< ( double val )

Set rotation matrix first element.

Parameters

val	: Value of the matrix first element.

Returns: An updated matrix.

The following example shows how to initialize a rotation matrix using this operator.

#include <visp3/core/vpRotationMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpRotationMatrix R;
  R << 0, 0, -1, 0, -1, 0, -1, 0, 0;
  std::cout << "R:\n" << R << std::endl;
}

It produces the following printings:

See also: operator,()

Definition at line 216 of file vpRotationMatrix.cpp.

References vpArray2D< double >::data, and m_index.

◆ operator=() [1/3]

vpRotationMatrix & vpRotationMatrix::operator= ( const std::initializer_list< double > & list )

Set a rotation matrix from a list of 9 double values.

Parameters

list

: List of double. The following code shows how to use this constructor to initialize a rotation matrix:

#include <visp3/core/vpRotationMatrix.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpRotationMatrix R
  R = { 0, 0, -1, 0, -1, 0, -1, 0, 0 };
  std::cout << "R:\n" << R << std::endl;
}

It produces the following output:

See also: operator<<()

Definition at line 122 of file vpRotationMatrix.cpp.

References vpArray2D< double >::data, vpException::dimensionError, vpArray2D< double >::dsize, vpException::fatalError, isARotationMatrix(), and orthogonalize().

◆ operator=() [2/3]

vpRotationMatrix & vpRotationMatrix::operator= ( const vpMatrix & M )

Converts a 3-by-3 matrix into a rotation matrix.

Parameters

M	: Input matrix.

vpMatrix M(3, 3);
M.eye()
vpRotationMatrix R = M;

Exceptions

vpException::fatalError If the input matrix is not a rotation matrix.

See also: isARotationMatrix()

Definition at line 162 of file vpRotationMatrix.cpp.

References vpException::dimensionError, vpException::fatalError, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), and isARotationMatrix().

◆ operator=() [3/3]

vpRotationMatrix & vpRotationMatrix::operator= ( const vpRotationMatrix & R )

Set the current rotation matrix from a rotation matrix R.

Parameters

R	: Rotation matrix. vpRotationMatrix R1(vpMath::rad(10, vpMath::rad(20), vpMath::rad(30)); vpRotationMatrix R2 = R1; vpMath::rad static double rad(double deg) Definition: vpMath.h:129

Definition at line 82 of file vpRotationMatrix.cpp.

References vpArray2D< Type >::rowPtrs, and vpArray2D< double >::rowPtrs.

◆ operator==()

bool vpArray2D< double >::operator== ( const vpArray2D< Type > & A ) const

inherited

Equal to comparison operator of a 2D array.

Definition at line 519 of file vpArray2D.h.

◆ operator[]() [1/2]

double * vpArray2D< double >::operator[] ( unsigned int i )

inlineinherited

Set element $A_{ij} = x$ using A[i][j] = x.

Definition at line 605 of file vpArray2D.h.

◆ operator[]() [2/2]

double * vpArray2D< double >::operator[] ( unsigned int i ) const

inlineinherited

Get element $x = A_{ij}$ using x = A[i][j].

Definition at line 607 of file vpArray2D.h.

◆ orthogonalize()

void vpRotationMatrix::orthogonalize ( )

Perform rotation matrix orthogonalization.

Definition at line 1040 of file vpRotationMatrix.cpp.

References vpArray2D< double >::data, vpMatrix::det(), vpMatrix::svd(), and vpMatrix::t().

Referenced by operator=(), vpHomogeneousMatrix::orthogonalizeRotation(), vpHomogeneousMatrix::vpHomogeneousMatrix(), and vpRotationMatrix().

◆ printVector()

void vpRotationMatrix::printVector ( )

Print to std::cout the rotation matrix as a $\theta {\bf u}$ angle representation vector.

Definition at line 674 of file vpRotationMatrix.cpp.

◆ reshape()

void vpArray2D< double >::reshape	(	unsigned int	nrows,
		unsigned int	ncols
	)

inlineinherited

Examples: testMatrixInitialization.cpp.

Definition at line 456 of file vpArray2D.h.

◆ resize() [1/2]

void vpRotationMatrix::resize	(	unsigned int	nrows,
		unsigned int	ncols,
		bool	flagNullify = `true`
	)

inline

This function is not applicable to a rotation matrix that is always a 3-by-3 matrix.

Exceptions

vpException::fatalError When this function is called.

Definition at line 198 of file vpRotationMatrix.h.

References vpException::fatalError.

◆ resize() [2/2]

void vpArray2D< double >::resize	(	unsigned int	nrows,
		unsigned int	ncols,
		bool	flagNullify = `true`,
		bool	recopy_ = `true`
	)

inlineinherited

Set the size of the array and initialize all the values to zero.

Parameters

nrows	: number of rows.
ncols	: number of column.
flagNullify	: if true, then the array is re-initialized to 0 after resize. If false, the initial values from the common part of the array (common part between old and new version of the array) are kept. Default value is true.
recopy_	: if true, will perform an explicit recopy of the old data.

Examples: catchArray2D.cpp, catchJsonArrayConversion.cpp, catchParticleFilter.cpp, perfMatrixMultiplication.cpp, perfMatrixTranspose.cpp, testMatrix.cpp, testMatrixDeterminant.cpp, testMatrixInverse.cpp, testMatrixPseudoInverse.cpp, and testSvd.cpp.

Definition at line 362 of file vpArray2D.h.

◆ save()

static bool vpArray2D< double >::save	(	const std::string &	filename,
		const vpArray2D< Type > &	A,
		bool	binary = `false`,
		const char *	header = `""`
	)

inlinestaticinherited

Save a matrix to a file.

Parameters

filename	: Absolute file name.
A	: Array to be saved.
binary	: If true the matrix is saved in a binary file, else a text file.
header	: Optional line that will be saved at the beginning of the file.

Returns: Returns true if success.

Warning : If you save the matrix as in a text file the precision is less than if you save it in a binary file.

See also: load()

Definition at line 874 of file vpArray2D.h.

◆ saveYAML()

static bool vpArray2D< double >::saveYAML	(	const std::string &	filename,
		const vpArray2D< Type > &	A,
		const char *	header = `""`
	)

inlinestaticinherited

Save an array in a YAML-formatted file.

Parameters

filename	: absolute file name.
A	: array to be saved in the file.
header	: optional lines that will be saved at the beginning of the file. Should be YAML-formatted and will adapt to the indentation if any.

Returns: Returns true if success.

Here is an example of outputs.

vpArray2D<double> M(3,4);
vpArray2D::saveYAML("matrix.yml", M, "example: a YAML-formatted header");
vpArray2D::saveYAML("matrixIndent.yml", M, "example:\n    - a YAML-formatted \
header\n    - with inner indentation");

Content of matrix.yml:

example: a YAML-formatted header
rows: 3
cols: 4
data:
  - [0, 0, 0, 0]
  - [0, 0, 0, 0]
  - [0, 0, 0, 0]

Content of matrixIndent.yml:

example:
    - a YAML-formatted header
    - with inner indentation
rows: 3
cols: 4
data:
    - [0, 0, 0, 0]
    - [0, 0, 0, 0]
    - [0, 0, 0, 0]

See also: loadYAML()

Definition at line 972 of file vpArray2D.h.

◆ size()

unsigned int vpArray2D< double >::size ( ) const

inlineinherited

Return the number of elements of the 2D array.

Definition at line 349 of file vpArray2D.h.

◆ t()

vpRotationMatrix vpRotationMatrix::t ( ) const

Return the rotation matrix transpose which is also the inverse of the rotation matrix.

See also: inverse()

Examples: catchMathUtils.cpp.

Definition at line 620 of file vpRotationMatrix.cpp.

Referenced by vpVelocityTwistMatrix::extract(), vpHomogeneousMatrix::inverse(), inverse(), vpVelocityTwistMatrix::inverse(), and isARotationMatrix().

Friends And Related Function Documentation

◆ insert()

void vpArray2D< double >::insert	(	const vpArray2D< Type > &	A,
		const vpArray2D< Type > &	B,
		vpArray2D< Type > &	C,
		unsigned int	r,
		unsigned int	c
	)

Parameters

A	: Main array.
B	: Array to insert.
C	: Result array.
r	: Index of the row where to insert array B.
c	: Index of the column where to insert array B.

Warning: Throw exception if the sizes of the arrays do not allow the insertion.

Definition at line 1096 of file vpArray2D.h.

◆ operator!=()

bool operator!= ( const vpArray2D< Type > & A ) const

◆ operator==() [1/2]

bool operator== ( const vpArray2D< double > & A ) const

◆ operator==() [2/2]

bool operator== ( const vpArray2D< float > & A ) const

◆ vpGEMM()

void vpGEMM	(	const vpArray2D< double > &	A,
		const vpArray2D< double > &	B,
		const double &	alpha,
		const vpArray2D< double > &	C,
		const double &	beta,
		vpArray2D< double > &	D,
		const unsigned int &	ops = `0`
	)

For example, to compute D = alpha*A^T*B^T+beta*C we need to call :

vpGEMM(A, B, alpha, C, beta, D, VP_GEMM_A_T + VP_GEMM_B_T);

vpArray2D< double >::vpGEMM

void vpGEMM(const vpArray2D< double > &A, const vpArray2D< double > &B, const double &alpha, const vpArray2D< double > &C, const double &beta, vpArray2D< double > &D, const unsigned int &ops=0)

Definition: vpGEMM.h:414

If C is not used, vpGEMM must be called using an empty array null. Thus to compute D = alpha*A^T*B, we have to call:

vpGEMM(A, B, alpha, null, 0, D, VP_GEMM_B_T);

Exceptions

vpException::incorrectMatrixSizeError if the sizes of the matrices do not allow the operations.

Parameters

A	: An array that could be a vpMatrix.
B	: An array that could be a vpMatrix.
alpha	: A scalar.
C	: An array that could be a vpMatrix.
beta	: A scalar.
D	: The resulting array that could be a vpMatrix.
ops	: A scalar describing operation applied on the matrices. Possible values are the one defined in vpGEMMmethod(): VP_GEMM_A_T, VP_GEMM_B_T, VP_GEMM_C_T.

Definition at line 414 of file vpGEMM.h.

◆ vpGEMMmethod

enum vpGEMMmethod

Operations are :

VP_GEMM_A_T to use the transpose matrix of A instead of the matrix A
VP_GEMM_B_T to use the transpose matrix of B instead of the matrix B
VP_GEMM_C_T to use the transpose matrix of C instead of the matrix C

Definition at line 53 of file vpGEMM.h.

Member Data Documentation

◆ colNum

unsigned int vpArray2D< double >::colNum

protectedinherited

Number of columns in the array.

Definition at line 1103 of file vpArray2D.h.

◆ data

double * vpArray2D< double >::data

inherited

Address of the first element of the data array.

Examples: catchArray2D.cpp, catchQuaternion.cpp, catchRotation.cpp, perfMatrixMultiplication.cpp, testDisplacement.cpp, testMatrix.cpp, testTranslationVector.cpp, testUniversalRobotsGetData.cpp, tutorial-bridge-opencv-matrix.cpp, and tutorial-matlab.cpp.

Definition at line 148 of file vpArray2D.h.

◆ dsize

unsigned int vpArray2D< double >::dsize

protectedinherited

Current array size (rowNum * colNum)

Definition at line 1107 of file vpArray2D.h.

◆ m_index

unsigned int vpRotationMatrix::m_index

protected

Definition at line 230 of file vpRotationMatrix.h.

Referenced by operator,(), and operator<<().

◆ rowNum

unsigned int vpArray2D< double >::rowNum

protectedinherited

Number of rows in the array.

Definition at line 1101 of file vpArray2D.h.

◆ rowPtrs

double ** vpArray2D< double >::rowPtrs

protectedinherited

Address of the first element of each rows.

Definition at line 1105 of file vpArray2D.h.

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Related Functions

Inherited I/O from vpArray2D with Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ vpRotationMatrix() [1/12]

◆ vpRotationMatrix() [2/12]

◆ vpRotationMatrix() [3/12]

◆ vpRotationMatrix() [4/12]

◆ vpRotationMatrix() [5/12]

◆ vpRotationMatrix() [6/12]

◆ vpRotationMatrix() [7/12]

◆ vpRotationMatrix() [8/12]

◆ vpRotationMatrix() [9/12]

◆ vpRotationMatrix() [10/12]

◆ vpRotationMatrix() [11/12]

◆ vpRotationMatrix() [12/12]

Member Function Documentation

◆ buildFrom() [1/8]

◆ buildFrom() [2/8]

◆ buildFrom() [3/8]

◆ buildFrom() [4/8]

◆ buildFrom() [5/8]

◆ buildFrom() [6/8]

◆ buildFrom() [7/8]

◆ buildFrom() [8/8]

◆ conv2() [1/2]

◆ conv2() [2/2]

◆ eye()

◆ getCol()

◆ getCols()

◆ getMaxValue()

◆ getMinValue()

◆ getRows()

◆ getThetaUVector()

◆ hadamard()

◆ insert() [1/2]

◆ insert() [2/2]

◆ inverse() [1/2]

◆ inverse() [2/2]

◆ isARotationMatrix()

◆ load()

◆ loadYAML()

◆ mean() [1/2]

◆ mean() [2/2]

◆ operator!=()

◆ operator*() [1/6]

◆ operator*() [2/6]

◆ operator*() [3/6]

◆ operator*() [4/6]

◆ operator*() [5/6]

◆ operator*() [6/6]

◆ operator*=()

◆ operator,()

◆ operator<<()

◆ operator=() [1/3]

◆ operator=() [2/3]

◆ operator=() [3/3]

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ orthogonalize()

◆ printVector()

◆ reshape()

◆ resize() [1/2]

◆ resize() [2/2]

◆ save()

◆ saveYAML()

◆ size()

◆ t()

Friends And Related Function Documentation

◆ insert()

◆ operator!=()

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ vpGEMM()

◆ vpGEMMmethod